(define (problem task)
(:domain neuhelium_coffee)
(:objects
    w3_1 - delivery_robot
    jaka kinova - robotic_arm
    coffee_1 - coffee
    door_1 - door
    anywhere neuhelium_cabin service_table_1 indoor outdoor - location
    neuhelium_coffee_machine - coffee_machine
    coffee_order_1 - coffee_order
)
(:init
    (device_available)


    (arm_empty jaka)
    (arm_empty kinova)


    (at_location w3_1 anywhere)





    (able_to_get_from_dropper jaka)

    (able_to_get_from_platform kinova)

    (able_place_in_delivery_robot kinova w3_1)

    (coffee_at coffee_1 neuhelium_cabin)

    (connected anywhere neuhelium_cabin)
    (connected neuhelium_cabin indoor)
    (connected outdoor service_table_1)

    (at_door door_1 indoor outdoor)

    (can_open door_1)

)
(:goal (and
    (order_obtained coffee_order_1)
    (coffee_in_delivery_robot coffee_1 w3_1)
    (coffee_at coffee_1 service_table_1)
))
)
